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四路寻迹

于 2023-04-27 发布 文件大小:27.11 kB
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#include #define CAR_SPEED_MAX 10 //最大速度 sfr P4=0xe8; sbit PWM_R=P1^7; //PWM输出 sbit PWM_L=P1^2; sbit Moto_RA=P1^6; sbit Moto_RB=P1^5; sbit Moto_LA=P1^4; sbit Moto_LB=P1^3; //左右电机驱动 unsigned char Moto_Speed_R; //右轮速度 unsigned char Moto_Speed_L; //左轮速度  unsigned char Moto_Speed_Num; //PWM调速 sbit INF_R0=P4^3; //循迹 右侧内传感器 sbit INF_R1=P4^2; //循迹 右侧外传感器 sbit INF_L0=P4^1;   //循迹 左侧内传感器 sbit INF_L1=P4^0;   //循迹 左侧外传感器 unsigned char Car_Sta; //电机启动速度 /*********************************** *函数名称:void Delay(unsigned char num) *函数功能:延时 *参数说明:num 延时时间 数值最大255 *返回说明:无 *其它说明:不精准延时 ***********************************/ //void Delay(unsigned char num) //{ // unsi

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